Relation extraction has evolved from supervised relation extraction to zero-shot setting due to the continuous emergence of newly generated relations. Some pioneering works handle zero-shot relation extraction by reformulating it into proxy tasks, such as reading comprehension and textual entailment. Nonetheless, the divergence in proxy task formulations from relation extraction hinders the acquisition of informative semantic representations, leading to subpar performance. Therefore, in this paper, we take a data-driven view to handle zero-shot relation extraction under a three-step paradigm, including encoder training, relation clustering, and summarization. Specifically, to train a discriminative relational encoder, we propose a novel selective contrastive learning framework, namely, SCL, where selective importance scores are assigned to distinguish the importance of different negative contrastive instances. During testing, the prompt-based encoder is employed to map test samples into representation vectors, which are then clustered into several groups. Typical samples closest to the cluster centroid are selected for summarization to generate the predicted relation for all samples in the cluster. Moreover, we design a simple non-parametric threshold plugin to reduce false-positive errors in inference on unseen relation representations. Our experiments demonstrate that SCL outperforms the current state-of-the-art method by over 3% across all metrics.